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<title>ProMRDS Chapter 8 - Simulating Articulated Entities</title>
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<p class="heading"><span class="smallhead">Professional</span><br />&nbsp;&nbsp;&nbsp;Microsoft Robotics Developer Studio<br />
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<h1>Chapter 8 - Simulating Articulated Entities</h1>

<h2>Summary</h2>
<p>
Simulating robotic arms requires an understanding of joints and
kinematics. This is quite different to simulating wheeled robots.
</p>
<p>
This chapter develops a full simulation of the Lynxmotion L6 Arm.
Later in the book, there are applications that can run on either
a real L6 arm or the simulated one. See the Arm Mover example in <a href="../Chapter12/Readme.htm">Chapter 12</a>
using VPL. The corresponding service for the real Lynx 6 Arm is available
in <a href="../Chapter15/Readme.htm">Chapter 15</a>.
</p>

<h2>Contents</h2>
<p>
The following applications are included in this Chapter:
</p>
<ul>
<li>Joint Mover</li>
<li>Simulated Lynx 6 Arm</li>
<li>Test Bench</li>
</ul>
<p>Sample screen shots:</p>
<p>
<a href="images/JointMover.jpg"><img src="images/JointMover_small.jpg" border="0" alt="Joint Mover" /></a>
</p>
<p>
<a href="images/SimLynx6Arm.jpg"><img src="images/SimLynx6Arm_small.jpg" border="0" "Simulated Lynx L6 Arm" /></a>&nbsp;&nbsp;&nbsp;<a href="images/SimLynx6ArmControl.jpg"><img src="images/SimLynx6ArmControl_small.jpg" border="0" alt="Arm Control" /></a>
</p>
<p>
<a href="images/TestBench.jpg"><img src="images/TestBench_small.jpg" border="0" alt="Test Bench for Joints" /></a>
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<h2>Legal Stuff</h2>
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This code is available free of charge for non-commercial use.
Please see the <a href="../Licence.htm">Licence Agreement</a>.
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